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<div class="title">our_cvfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: cvfh.h 4936 2012-03-07 11:12:45Z aaldoma $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_OURCVFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_OURCVFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::VFHSignature308&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">   62</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">OURCVFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;OURCVFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const OURCVFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointNormal&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8cf9b4c92f58ba115fb26545d3b58eb2">   79</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8cf9b4c92f58ba115fb26545d3b58eb2">OURCVFHEstimation</a> () :</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">vpx_</a> (0), vpy_ (0), vpz_ (0), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">leaf_size_</a> (0.005f), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aebc07651a12989f98520841d1da379dc">normalize_bins_</a> (false), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a768a4881278a7c50475c3db7b87ccc13">curv_threshold_</a> (0.03f), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a774e60f332ca6468ff79a796d4c1a32a">cluster_tolerance_</a> (<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">leaf_size_</a> * 3),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9736ee46ea4e7ab04a5261e5c37e3f55">eps_angle_threshold_</a> (0.125f), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a781d90144429aecce5a36989051c0b08">min_points_</a> (50), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad9e994567a11d797f1bc998e5d298ee2">radius_normals_</a> (<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">leaf_size_</a> * 3), <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">centroids_dominant_orientations_</a> (),</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">dominant_normals_</a> ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = 1;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;OURCVFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac6cb78add74bd2f1aa09403363545a02">refine_clusters_</a> = 1.f;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        min_axis_value_ = 0.925f;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        axis_ratio_ = 0.8f;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      ;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">inline</span> Eigen::Matrix4f</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a84af531bba70ea59d35c53630cafb683">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a84af531bba70ea59d35c53630cafb683">createTransFromAxes</a> (Eigen::Vector3f &amp; evx, Eigen::Vector3f &amp; evy, Eigen::Vector3f &amp; evz, Eigen::Affine3f &amp; transformPC,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                           Eigen::Matrix4f &amp; center_mat)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        Eigen::Matrix4f trans;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        trans.setIdentity (4, 4);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        trans (0, 0) = evx (0, 0);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        trans (1, 0) = evx (1, 0);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        trans (2, 0) = evx (2, 0);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        trans (0, 1) = evy (0, 0);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        trans (1, 1) = evy (1, 0);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        trans (2, 1) = evy (2, 0);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        trans (0, 2) = evz (0, 0);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        trans (1, 2) = evz (1, 0);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        trans (2, 2) = evz (2, 0);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        Eigen::Matrix4f homMatrix = Eigen::Matrix4f ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        homMatrix.setIdentity (4, 4);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        homMatrix = transformPC.matrix ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        Eigen::Matrix4f trans_copy = trans.inverse ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        trans = trans_copy * center_mat * homMatrix;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">return</span> trans;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#af56442302d5b0f378446895c59358c37">computeRFAndShapeDistribution</a> (PointInTPtr &amp; processed, PointCloudOut &amp;output, std::vector&lt;pcl::PointIndices&gt; &amp; cluster_indices);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a25128a5ac4a93f7a7e520f6e70e0abd2">sgurf</a> (Eigen::Vector3f &amp; centroid, Eigen::Vector3f &amp; normal_centroid, PointInTPtr &amp; processed, std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp; transformations,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;             PointInTPtr &amp; grid, <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp; indices);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a67094d15b4a0e315a1e70294562ec8a7">filterNormalsWithHighCurvature</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp; cloud, std::vector&lt;int&gt; &amp; indices_to_use, std::vector&lt;int&gt; &amp;indices_out,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                                      std::vector&lt;int&gt; &amp;indices_in, <span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a87ada00c7f1cd319e0b9a822ca1bb556">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a87ada00c7f1cd319e0b9a822ca1bb556">setViewPoint</a> (<span class="keywordtype">float</span> vpx, <span class="keywordtype">float</span> vpy, <span class="keywordtype">float</span> vpz)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">vpx_</a> = vpx;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a542ecd0090fdc1c2b0c40b1b24e1e0e7">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a542ecd0090fdc1c2b0c40b1b24e1e0e7">setRadiusNormals</a> (<span class="keywordtype">float</span> radius_normals)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad9e994567a11d797f1bc998e5d298ee2">radius_normals_</a> = radius_normals;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a49f96bb5395bd7cc3b03ea9805d3f36d">  184</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a49f96bb5395bd7cc3b03ea9805d3f36d">getViewPoint</a> (<span class="keywordtype">float</span> &amp;vpx, <span class="keywordtype">float</span> &amp;vpy, <span class="keywordtype">float</span> &amp;vpz)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        vpx = <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">vpx_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a45c4c30da8c5fdcb4d91d7513f893f4e">  195</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a45c4c30da8c5fdcb4d91d7513f893f4e">getCentroidClusters</a> (std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">centroids_dominant_orientations_</a>.size (); ++i)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          centroids.push_back (<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">centroids_dominant_orientations_</a>[i]);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5d8f892fefa3435b0916189f4cf83b26">  205</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5d8f892fefa3435b0916189f4cf83b26">getCentroidNormalClusters</a> (std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">dominant_normals_</a>.size (); ++i)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          centroids.push_back (<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">dominant_normals_</a>[i]);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a04693601520d483097092d0558cc4768">  216</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a04693601520d483097092d0558cc4768">setClusterTolerance</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a774e60f332ca6468ff79a796d4c1a32a">cluster_tolerance_</a> = d;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad837a0a88f097855a21c8a0538b0331a">  225</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad837a0a88f097855a21c8a0538b0331a">setEPSAngleThreshold</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9736ee46ea4e7ab04a5261e5c37e3f55">eps_angle_threshold_</a> = d;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#abfc00a0b87aebc2dd03169a50f300ca1">  234</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#abfc00a0b87aebc2dd03169a50f300ca1">setCurvatureThreshold</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a768a4881278a7c50475c3db7b87ccc13">curv_threshold_</a> = d;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8b88a95ee93275a2603fca8a2adf5d47">  243</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8b88a95ee93275a2603fca8a2adf5d47">setMinPoints</a> (<span class="keywordtype">size_t</span> min)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a781d90144429aecce5a36989051c0b08">min_points_</a> = min;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a0c8c3ba81fac4e6bdeac8feb1668db88">  252</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a0c8c3ba81fac4e6bdeac8feb1668db88">setNormalizeBins</a> (<span class="keywordtype">bool</span> normalize)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aebc07651a12989f98520841d1da379dc">normalize_bins_</a> = normalize;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac757ebe9646a8095dbad0022656cf82b">  261</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac757ebe9646a8095dbad0022656cf82b">getClusterIndices</a> (std::vector&lt;pcl::PointIndices&gt; &amp; indices)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        indices = <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8f2e7bc609ceefd6fb6c36f53c97cab0">clusters_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#acee17a589e5dd159c58605df15234efc">  270</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#acee17a589e5dd159c58605df15234efc">getClusterAxes</a> (std::vector&lt;short&gt; &amp; cluster_axes)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        cluster_axes = <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9c9fdbf7663d4bbaf714424b828e0dc7">cluster_axes_</a>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a89f8c0f95e9e4e1e783ef7ebece3a7bd">  279</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a89f8c0f95e9e4e1e783ef7ebece3a7bd">setRefineClusters</a> (<span class="keywordtype">float</span> rc)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac6cb78add74bd2f1aa09403363545a02">refine_clusters_</a> = rc;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a589f641535158342769b1e5ef5483dc3">  288</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a589f641535158342769b1e5ef5483dc3">getTransforms</a> (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp; trans)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        trans = transforms_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a120c432a2c273f2f9ad6ffed190e601b">  298</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a120c432a2c273f2f9ad6ffed190e601b">getValidTransformsVec</a> (std::vector&lt;bool&gt; &amp; valid)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        valid = valid_transforms_;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aacc1aa04fc352f999a12170e8666d1e7">  307</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aacc1aa04fc352f999a12170e8666d1e7">setAxisRatio</a> (<span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        axis_ratio_ = f;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5e5544d42172edbd0e669c1263fb1cb2">  316</a></span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5e5544d42172edbd0e669c1263fb1cb2">setMinAxisValue</a> (<span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        min_axis_value_ = f;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a75bbfd331a8bff6f0af23348afc5fe26">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">  331</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">vpx_</a>, vpy_, vpz_;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">  336</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">leaf_size_</a>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aebc07651a12989f98520841d1da379dc">  339</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aebc07651a12989f98520841d1da379dc">normalize_bins_</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a768a4881278a7c50475c3db7b87ccc13">  342</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a768a4881278a7c50475c3db7b87ccc13">curv_threshold_</a>;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a774e60f332ca6468ff79a796d4c1a32a">  345</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a774e60f332ca6468ff79a796d4c1a32a">cluster_tolerance_</a>;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9736ee46ea4e7ab04a5261e5c37e3f55">  348</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9736ee46ea4e7ab04a5261e5c37e3f55">eps_angle_threshold_</a>;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a781d90144429aecce5a36989051c0b08">  353</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a781d90144429aecce5a36989051c0b08">min_points_</a>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad9e994567a11d797f1bc998e5d298ee2">  356</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad9e994567a11d797f1bc998e5d298ee2">radius_normals_</a>;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac6cb78add74bd2f1aa09403363545a02">  359</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac6cb78add74bd2f1aa09403363545a02">refine_clusters_</a>;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; transforms_;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      std::vector&lt;bool&gt; valid_transforms_;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordtype">float</span> axis_ratio_;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordtype">float</span> min_axis_value_;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a93d8ef40eeb4bd7c655d94b724116147">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9b8d59946380129bb1452193d7629705">extractEuclideanClustersSmooth</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;                                      <span class="keywordtype">float</span> tolerance, <span class="keyword">const</span> pcl::search::Search&lt;pcl::PointNormal&gt;::Ptr &amp;tree,</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                                      std::vector&lt;pcl::PointIndices&gt; &amp;clusters, <span class="keywordtype">double</span> eps_angle, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_per_cluster = 1,</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_pts_per_cluster = (std::numeric_limits&lt;int&gt;::max) ());</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">  398</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">centroids_dominant_orientations_</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">  400</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">dominant_normals_</a>;</div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8f2e7bc609ceefd6fb6c36f53c97cab0">  402</a></span>&#160;      std::vector&lt;pcl::PointIndices&gt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8f2e7bc609ceefd6fb6c36f53c97cab0">clusters_</a>;</div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9c9fdbf7663d4bbaf714424b828e0dc7">  404</a></span>&#160;      std::vector&lt;short&gt; <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9c9fdbf7663d4bbaf714424b828e0dc7">cluster_axes_</a>;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  };</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;}</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/our_cvfh.hpp&gt;</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURES_VFH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a3f68793061ef0973bdacfea56cf5ae21"><div class="ttname"><a href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">pcl::Feature::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">pcl::OURCVFHEstimation</a></div><div class="ttdoc">OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram ...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a04693601520d483097092d0558cc4768"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a04693601520d483097092d0558cc4768">pcl::OURCVFHEstimation::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(float d)</div><div class="ttdoc">Sets max. Euclidean distance between points to be added to the cluster</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a0c8c3ba81fac4e6bdeac8feb1668db88"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a0c8c3ba81fac4e6bdeac8feb1668db88">pcl::OURCVFHEstimation::setNormalizeBins</a></div><div class="ttdeci">void setNormalizeBins(bool normalize)</div><div class="ttdoc">Sets wether if the signatures should be normalized or not</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a105dac65068020541ef225ee72fc7a2e"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a105dac65068020541ef225ee72fc7a2e">pcl::OURCVFHEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). By default, the viewpoint is set to...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a120c432a2c273f2f9ad6ffed190e601b"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a120c432a2c273f2f9ad6ffed190e601b">pcl::OURCVFHEstimation::getValidTransformsVec</a></div><div class="ttdeci">void getValidTransformsVec(std::vector&lt; bool &gt; &amp;valid)</div><div class="ttdoc">Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a va...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a25128a5ac4a93f7a7e520f6e70e0abd2"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a25128a5ac4a93f7a7e520f6e70e0abd2">pcl::OURCVFHEstimation::sgurf</a></div><div class="ttdeci">bool sgurf(Eigen::Vector3f &amp;centroid, Eigen::Vector3f &amp;normal_centroid, PointInTPtr &amp;processed, std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transformations, PointInTPtr &amp;grid, pcl::PointIndices &amp;indices)</div><div class="ttdoc">Computes SGURF</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:191</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a45c4c30da8c5fdcb4d91d7513f893f4e"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a45c4c30da8c5fdcb4d91d7513f893f4e">pcl::OURCVFHEstimation::getCentroidClusters</a></div><div class="ttdeci">void getCentroidClusters(std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;centroids)</div><div class="ttdoc">Get the centroids used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a49f96bb5395bd7cc3b03ea9805d3f36d"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a49f96bb5395bd7cc3b03ea9805d3f36d">pcl::OURCVFHEstimation::getViewPoint</a></div><div class="ttdeci">void getViewPoint(float &amp;vpx, float &amp;vpy, float &amp;vpz)</div><div class="ttdoc">Get the viewpoint.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a542ecd0090fdc1c2b0c40b1b24e1e0e7"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a542ecd0090fdc1c2b0c40b1b24e1e0e7">pcl::OURCVFHEstimation::setRadiusNormals</a></div><div class="ttdeci">void setRadiusNormals(float radius_normals)</div><div class="ttdoc">Set the radius used to compute normals</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a589f641535158342769b1e5ef5483dc3"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a589f641535158342769b1e5ef5483dc3">pcl::OURCVFHEstimation::getTransforms</a></div><div class="ttdeci">void getTransforms(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;trans)</div><div class="ttdoc">Returns the transformations aligning the point cloud to the corresponding SGURF</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a5d8f892fefa3435b0916189f4cf83b26"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5d8f892fefa3435b0916189f4cf83b26">pcl::OURCVFHEstimation::getCentroidNormalClusters</a></div><div class="ttdeci">void getCentroidNormalClusters(std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;centroids)</div><div class="ttdoc">Get the normal centroids used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a5e5544d42172edbd0e669c1263fb1cb2"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a5e5544d42172edbd0e669c1263fb1cb2">pcl::OURCVFHEstimation::setMinAxisValue</a></div><div class="ttdeci">void setMinAxisValue(float f)</div><div class="ttdoc">Sets the min disambiguition axis value to generate several SGURFs for the cluster when disambiguition...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:316</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a67094d15b4a0e315a1e70294562ec8a7"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a67094d15b4a0e315a1e70294562ec8a7">pcl::OURCVFHEstimation::filterNormalsWithHighCurvature</a></div><div class="ttdeci">void filterNormalsWithHighCurvature(const pcl::PointCloud&lt; PointNT &gt; &amp;cloud, std::vector&lt; int &gt; &amp;indices_to_use, std::vector&lt; int &gt; &amp;indices_out, std::vector&lt; int &gt; &amp;indices_in, float threshold)</div><div class="ttdoc">Removes normals with high curvature caused by real edges or noisy data</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:161</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a75bbfd331a8bff6f0af23348afc5fe26"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a75bbfd331a8bff6f0af23348afc5fe26">pcl::OURCVFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a768a4881278a7c50475c3db7b87ccc13"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a768a4881278a7c50475c3db7b87ccc13">pcl::OURCVFHEstimation::curv_threshold_</a></div><div class="ttdeci">float curv_threshold_</div><div class="ttdoc">Curvature threshold for removing normals.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a774e60f332ca6468ff79a796d4c1a32a"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a774e60f332ca6468ff79a796d4c1a32a">pcl::OURCVFHEstimation::cluster_tolerance_</a></div><div class="ttdeci">float cluster_tolerance_</div><div class="ttdoc">allowed Euclidean distance between points to be added to the cluster.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:345</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a781d90144429aecce5a36989051c0b08"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a781d90144429aecce5a36989051c0b08">pcl::OURCVFHEstimation::min_points_</a></div><div class="ttdeci">size_t min_points_</div><div class="ttdoc">Minimum amount of points in a clustered region to be considered stable for CVFH computation.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:353</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a84af531bba70ea59d35c53630cafb683"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a84af531bba70ea59d35c53630cafb683">pcl::OURCVFHEstimation::createTransFromAxes</a></div><div class="ttdeci">Eigen::Matrix4f createTransFromAxes(Eigen::Vector3f &amp;evx, Eigen::Vector3f &amp;evy, Eigen::Vector3f &amp;evz, Eigen::Affine3f &amp;transformPC, Eigen::Matrix4f &amp;center_mat)</div><div class="ttdoc">Creates an affine transformation from the RF axes</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a87ada00c7f1cd319e0b9a822ca1bb556"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a87ada00c7f1cd319e0b9a822ca1bb556">pcl::OURCVFHEstimation::setViewPoint</a></div><div class="ttdeci">void setViewPoint(float vpx, float vpy, float vpz)</div><div class="ttdoc">Set the viewpoint.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a89f8c0f95e9e4e1e783ef7ebece3a7bd"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a89f8c0f95e9e4e1e783ef7ebece3a7bd">pcl::OURCVFHEstimation::setRefineClusters</a></div><div class="ttdeci">void setRefineClusters(float rc)</div><div class="ttdoc">Sets the refinement factor for the clusters</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a8b88a95ee93275a2603fca8a2adf5d47"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8b88a95ee93275a2603fca8a2adf5d47">pcl::OURCVFHEstimation::setMinPoints</a></div><div class="ttdeci">void setMinPoints(size_t min)</div><div class="ttdoc">Set minimum amount of points for a cluster to be considered</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a8cf9b4c92f58ba115fb26545d3b58eb2"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8cf9b4c92f58ba115fb26545d3b58eb2">pcl::OURCVFHEstimation::OURCVFHEstimation</a></div><div class="ttdeci">OURCVFHEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a8f2e7bc609ceefd6fb6c36f53c97cab0"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8f2e7bc609ceefd6fb6c36f53c97cab0">pcl::OURCVFHEstimation::clusters_</a></div><div class="ttdeci">std::vector&lt; pcl::PointIndices &gt; clusters_</div><div class="ttdoc">Indices to the points representing the stable clusters</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:402</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a901ce63e8964a418819c748b2bb3cd88"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a901ce63e8964a418819c748b2bb3cd88">pcl::OURCVFHEstimation::dominant_normals_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; dominant_normals_</div><div class="ttdoc">Normal centroids that were used to compute different OUR-CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:400</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a93d8ef40eeb4bd7c655d94b724116147"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a93d8ef40eeb4bd7c655d94b724116147">pcl::OURCVFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the OUR-CVFH descriptors at a set of points given by &lt;setInputCloud (), setIndices ()&gt; using...</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:543</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a9736ee46ea4e7ab04a5261e5c37e3f55"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9736ee46ea4e7ab04a5261e5c37e3f55">pcl::OURCVFHEstimation::eps_angle_threshold_</a></div><div class="ttdeci">float eps_angle_threshold_</div><div class="ttdoc">deviation of the normals between two points so they can be clustered together.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a9b8d59946380129bb1452193d7629705"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9b8d59946380129bb1452193d7629705">pcl::OURCVFHEstimation::extractEuclideanClustersSmooth</a></div><div class="ttdeci">void extractEuclideanClustersSmooth(const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;normals, float tolerance, const pcl::search::Search&lt; pcl::PointNormal &gt;::Ptr &amp;tree, std::vector&lt; pcl::PointIndices &gt; &amp;clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=(std::numeric_limits&lt; int &gt;::max)())</div><div class="ttdoc">Region growing method using Euclidean distances and neighbors normals to add points to a region.</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:75</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a9c9fdbf7663d4bbaf714424b828e0dc7"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a9c9fdbf7663d4bbaf714424b828e0dc7">pcl::OURCVFHEstimation::cluster_axes_</a></div><div class="ttdeci">std::vector&lt; short &gt; cluster_axes_</div><div class="ttdoc">Mapping from clusters to OUR-CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:404</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_aa86f51844e274dc7ae87fde388496347"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aa86f51844e274dc7ae87fde388496347">pcl::OURCVFHEstimation::centroids_dominant_orientations_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; centroids_dominant_orientations_</div><div class="ttdoc">Centroids that were used to compute different OUR-CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:398</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_aacc1aa04fc352f999a12170e8666d1e7"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aacc1aa04fc352f999a12170e8666d1e7">pcl::OURCVFHEstimation::setAxisRatio</a></div><div class="ttdeci">void setAxisRatio(float f)</div><div class="ttdoc">Sets the min axis ratio between the SGURF axes to decide if disambiguition is feasible</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:307</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_abfc00a0b87aebc2dd03169a50f300ca1"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#abfc00a0b87aebc2dd03169a50f300ca1">pcl::OURCVFHEstimation::setCurvatureThreshold</a></div><div class="ttdeci">void setCurvatureThreshold(float d)</div><div class="ttdoc">Sets curvature threshold for removing normals</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ac6cb78add74bd2f1aa09403363545a02"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac6cb78add74bd2f1aa09403363545a02">pcl::OURCVFHEstimation::refine_clusters_</a></div><div class="ttdeci">float refine_clusters_</div><div class="ttdoc">Factor for the cluster refinement</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ac757ebe9646a8095dbad0022656cf82b"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac757ebe9646a8095dbad0022656cf82b">pcl::OURCVFHEstimation::getClusterIndices</a></div><div class="ttdeci">void getClusterIndices(std::vector&lt; pcl::PointIndices &gt; &amp;indices)</div><div class="ttdoc">Gets the indices of the original point cloud used to compute the signatures</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_acee17a589e5dd159c58605df15234efc"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#acee17a589e5dd159c58605df15234efc">pcl::OURCVFHEstimation::getClusterAxes</a></div><div class="ttdeci">void getClusterAxes(std::vector&lt; short &gt; &amp;cluster_axes)</div><div class="ttdoc">Gets the number of non-disambiguable axes that correspond to each centroid</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ad837a0a88f097855a21c8a0538b0331a"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad837a0a88f097855a21c8a0538b0331a">pcl::OURCVFHEstimation::setEPSAngleThreshold</a></div><div class="ttdeci">void setEPSAngleThreshold(float d)</div><div class="ttdoc">Sets max. deviation of the normals between two points so they can be clustered together</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ad9e994567a11d797f1bc998e5d298ee2"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad9e994567a11d797f1bc998e5d298ee2">pcl::OURCVFHEstimation::radius_normals_</a></div><div class="ttdeci">float radius_normals_</div><div class="ttdoc">Radius for the normals computation.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_aebc07651a12989f98520841d1da379dc"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aebc07651a12989f98520841d1da379dc">pcl::OURCVFHEstimation::normalize_bins_</a></div><div class="ttdeci">bool normalize_bins_</div><div class="ttdoc">Wether to normalize the signatures or not. Default: false.</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_aee1394d7f0568e4ce67fe5cdb1e70354"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#aee1394d7f0568e4ce67fe5cdb1e70354">pcl::OURCVFHEstimation::leaf_size_</a></div><div class="ttdeci">float leaf_size_</div><div class="ttdoc">Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_af56442302d5b0f378446895c59358c37"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#af56442302d5b0f378446895c59358c37">pcl::OURCVFHEstimation::computeRFAndShapeDistribution</a></div><div class="ttdeci">void computeRFAndShapeDistribution(PointInTPtr &amp;processed, PointCloudOut &amp;output, std::vector&lt; pcl::PointIndices &gt; &amp;cluster_indices)</div><div class="ttdoc">Computes SGURF and the shape distribution based on the selected SGURF</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:375</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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